Warm the milk. Heat 1 cup of milk until warm to the touch (about 110°F/43°C).
It should feel like a warm bath—not hot. Hot milk can kill the yeast.
Activate the yeast. In a large bowl, combine the warm milk, 2 1/4 teaspoons yeast (one packet), and 1 tablespoon granulated sugar. Let it sit for 5–10 minutes until foamy.
If it doesn’t foam, start over with fresh yeast.
Mix the dough. Add 1/4 cup granulated sugar, 1/3 cup melted butter (cooled slightly), 2 large eggs, and 1 teaspoon salt. Stir to combine. Add 3 1/2 cups flour and mix with a spoon or dough hook until a shaggy dough forms.
Knead until smooth. Knead by hand on a lightly floured surface or with a mixer on medium-low for 6–8 minutes, adding up to 1 cup more flour as needed.
The dough should be soft, slightly tacky, and smooth—not sticky or stiff.
First rise. Place the dough in a lightly greased bowl, cover, and let it rise in a warm spot for 60–90 minutes, or until doubled in size. A gently warmed (but turned-off) oven works well.
Make the filling. In a small bowl, mix 3/4 cup brown sugar with 1 1/2 tablespoons ground cinnamon and a pinch of salt. Soften 1/3 cup butter for spreading.
Roll out the dough. Punch down the dough and turn it onto a floured surface.
Roll into a rectangle about 16x12 inches. Keep the edges neat for even rolls.
Spread and sprinkle. Spread the softened butter over the dough, leaving a 1/2-inch border on one long edge. Sprinkle the cinnamon-sugar mixture evenly over the buttered surface.
Roll tightly. Starting from the long edge opposite the border, roll the dough into a tight log.
Pinch the seam to seal.
Slice the rolls. Cut into 12 even pieces (about 1 1/4 to 1 1/2 inches thick). Use a sharp knife or unflavored dental floss for clean cuts.
Second rise. Arrange the rolls in a greased 9x13-inch pan, leaving slight space between them. Cover and let rise 30–45 minutes, until puffy and touching.
Preheat and bake. Preheat the oven to 350°F (175°C).
Bake for 22–26 minutes, until the tops are lightly golden and the centers are just set. Do not overbake or they’ll dry out.
Make the glaze. Beat 4 ounces cream cheese (softened) with 2 tablespoons butter, 1 cup powdered sugar, 1 teaspoon vanilla, and 1–2 tablespoons milk or cream until smooth. For a thinner glaze, add a bit more liquid.
Frost while warm. Spread half the glaze over the rolls while they’re warm to let it melt into the swirls.
After 5 minutes, add the rest for a creamy finish.
Serve. Let the rolls cool slightly so the centers set. Serve warm and enjoy.